Alternative wiper mechanism to remove rainwater on a sensor enclosure

ABSTRACT

A sensor enclosure comprising a domed cover and a base. The base can be encased by the domed cover. The base comprises an inner frame, an outer frame, one or more wipers, and a powertrain. The inner frame can provide surfaces for one or more sensors. The outer frame, disposed underneath the inner frame, the outer frame includes a slewing ring. The slewing ring comprises an inner ring to which the domed cover is attached and an outer ring attached to the outer frame. The one or more wipers extends vertically from the outer frame, each wiper having a first end attached to the outer frame and a second end attached to a support ring, and each wiper making a contact with the dome cover. The powertrain, disposed within the outer frame, configured to rotate the ring and the dome cover attached to the inner ring.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation application of U.S. Ser. No.16/158,205, filed Oct. 11, 2018, the content of which is herebyincorporated by reference in its entirety.

FIELD OF THE INVENTION

This disclosure relates to an enclosure for encasing sensors associatedwith autonomous vehicles. More particularly, the present disclosurerelates to a cover of the enclosure that can be rotated to removemoisture or other road debris from the cover.

BACKGROUND

In general, autonomous vehicles rely on myriad of information obtainedfrom sensors to determine operations to be taken next (e.g., turning,accelerating, breaking, etc.). Such sensors can include light detectionand ranging sensors (LiDARs), cameras, and radars, to name someexamples. Often, these sensors are mounted exteriorly to an autonomousvehicle. Such a configuration can be undesirable because it exposes thesensors to harsh environmental conditions (e.g., temperature swing,radiation, oxidation, etc.), and thereby may prematurely shorten asensor's lifetime. Furthermore, mounting the sensors exteriorly to theautonomous vehicle can subject the sensors to an increased risk ofimpact or damage from road debris. To alleviate these and otherproblems, a sensor enclosure may be utilized such that sensors can beencased in the sensor enclosure. The sensor enclosure can offeradditional protection against environmental elements and road debriswhile still allowing the encased sensors to function or operate.However, encasing sensors in a sensor enclosure can create otherchallenges. For example, while driving in rain or snow, an outer surface(e.g., a cover) of the sensor enclosure may collect moisture (e.g.,rainwater, snow, etc.). The moisture can accumulate on the outer surfaceand may interfere with operations of sensors. These shortfalls areaddressed by the present disclosure.

SUMMARY

Described herein are a sensor enclosure that removes moistureaccumulated on a cover of the sensor enclosure through a rotation of thecover through one or more fixed wipers, and a method for rotating thecover.

In one embodiment, the present disclosure describes a sensor enclosurecomprising a domed cover and a base. The base can be encased by thedomed cover. The base comprises an inner frame, an outer frame, one ormore wipers, and a powertrain. The inner frame can provide surfaces forone or more sensors. The outer frame, disposed underneath the innerframe, the outer frame includes a slewing ring. The slewing ringcomprises an inner ring to which the domed cover is attached and anouter ring attached to the outer frame. The one or more wipers extendsvertically from the outer frame, each wiper having a first end attachedto the outer frame and a second end attached to a support ring, and eachwiper making a contact with the dome cover. The powertrain, disposedwithin the outer frame, configured to rotate the inner ring and the domecover attached to the inner ring.

In some embodiments, the inner frame can include a circular platform towhich a plurality of cameras are mounted; a center block, disposed abovethe circular platform, to which at least one LiDAR is mounted; and oneor more support anchors, disposed underneath the circular platform, forattaching the inner frame to the outer frame.

In some embodiments, the plurality of cameras can include two cameraspointed in a forward direction and two cameras pointed at an offset of+/−45 degrees from the forward direction.

In some embodiments, the one or more support anchors can include aleveling mechanism for adjusting a height of each support anchor.

In some embodiments, each wiper can include a wiper blade that conformsto a contour of the domed cover and a leaf spring for providingcompressive force to the wiper blade to make contact to the domed cover.

In some embodiments, the wiper blade can remove moisture or roadsidedebris from the dome cover when the dome cover is rotated.

In some embodiments, the outer frame can include one or more mountingpoints for mounting the sensor enclosure to a vehicle.

In some embodiments, the domed cover can be made of material transparentto wavelengths of light receptive to the one or more sensors.

In some embodiments, the domed cover can be made of at least one ofacrylic glass, strengthened glass, or safety glass.

In some embodiments, the acrylic glass can be at least one of Cylux,Plexiglas, Acrylite, Lucite, or Perspex.

In some embodiments, the safety glass can be laminated glass held inplace by layers of polyvinyl butyral or ethylene-vinyl acetate.

In some embodiments, the cover can be selectively coated with athin-film neutral filter to alter a transmittance to light through thecover.

In some embodiments, the cover can be selectively coated with athin-film graduated neutral filter to alter a transmittance to lightthrough the cover along an axis.

In some embodiments, the cover can be coated with a reflective coating.

In some embodiments, the base can further comprise a moisture sensorconfigured to detect a presence of rainwater on the cover.

In some embodiments, the powertrain can be an electric motor coupled toa gear.

In some embodiments, the inner frame and the outer frame can befabricated with at least one of aluminum alloy, steel alloy, or carbongraphite.

In some embodiments, the inner frame and the outer frame can befabricated using three dimensional printers with thermoplastics.

In some embodiments, the thermoplastics can include at least one ofpolylactic acid, acrylonitrile butadiene styrene, polyamide, high impactpolystyrene, or thermoplastic elastomer.

These and other features of the apparatus disclosed herein, as well asthe methods of operation and functions of the related elements ofstructure and the combination of parts and economies of manufacture,will become more apparent upon consideration of the followingdescription and the appended claims with reference to the accompanyingdrawings, all of which form a part of this specification, wherein likereference numerals designate corresponding parts in the various figures.It is to be expressly understood, however, that the drawings are forpurposes of illustration and description only and are not intended as adefinition of the limits of the inventions.

BRIEF DESCRIPTION OF THE DRAWINGS

Certain features of various embodiments of the present inventions areset forth with particularity in the appended claims. A betterunderstanding of the features and advantages of the inventions will beobtained by reference to the following detailed description that setsforth illustrative embodiments, in which the principles of the inventionare utilized, and the accompanying drawings of which:

FIG. 1A illustrates an example autonomous vehicle, according to anembodiment of the present disclosure.

FIG. 1B illustrates an example autonomous vehicle, according to anembodiment of the present disclosure.

FIG. 2 illustrates an example sensor enclosure, according to anembodiment of the present disclosure.

FIG. 3 illustrates an example base, according to an embodiment of thepresent disclosure.

FIG. 4 illustrates an example control diagram, according to anembodiment of the present disclosure.

FIG. 5 illustrates an example method, according to an embodiment of thepresent disclosure.

FIG. 6 illustrates a block diagram of a computer system.

The figures depict various embodiments of the disclosed apparatus forpurposes of illustration only, wherein the figures use like referencenumerals to identify like elements. One skilled in the art will readilyrecognize from the following discussion that alternative embodiments ofthe structures and methods illustrated in the figures can be employedwithout departing from the principles of the disclosed technologydescribed herein.

DETAILED DESCRIPTION

An autonomous vehicle is equipped with complex sensors, data acquisitionsystems, actuation systems, and computing systems to enable theautonomous vehicle to operate without human involvement. These sensorscan include light detection and ranging sensors (LiDARs), cameras, andradars, to name some examples. Often, sensors are mounted exteriorly toan autonomous vehicle. Such a configuration is not ideal becausemounting the sensors exteriorly expose the sensors to harshenvironmental conditions (e.g., temperature swings, radiation,oxidation, etc.). These harsh conditions can prematurely shorten asensor's lifetime. Furthermore, this configuration subjects the sensorsto an increased risk of impact or damage from road debris. It istherefore desirable to encase sensors in a sensor enclosure thatprovides an additional protection against environmental conditions, aswell as, potential impacts from road debris.

Although a sensor enclosure can provide additional protection forsensors, the sensor enclosure may also create other challenges. Forexample, while driving under raining or snowing conditions, an outersurface of the sensor enclosure can collect moisture (e.g., rainwater,snow, etc.). The moisture can accumulate on the outer surface andinterfere with operation of sensors. For example, the moisture mayinterfere with laser pulses emitted from a LiDAR. In another example,the moisture accumulated on the outer surface may distort imagescaptured by cameras. In some cases, moistures such as rainwater maycreate artificial artifacts on images captured by the cameras. Theseartificial artifacts, in some cases, may require further processing tobe removed from the images.

Under traditional approaches, a system comprising one or more movingwipers can be utilized to remove the moisture accumulated on the outersurface of the sensor enclosure. However, under such approaches, thewipers may interfere with operation of sensors encased by the sensorenclosure. For example, the wipers can interfere with collection ofimage data. For instance, wipers might be in field of views of camerasgathering image data. To overcome this issue, under current approaches,camera exposure times can be adjusted to minimize effects of wipersbeing in the field of views of the cameras. Alternatively, wipermovement can be synchronized with integration times of the cameras sothe wiper movement does not interfere with the image data collectionprocess. These solutions can be costly and can require months ofdevelopment. A claimed sensor enclosure overcomes problems specificallydiscussed above. In various embodiments, a sensor enclosure comprises adomed cover and a base. The base can be encased by the domed cover. Thebase comprises an inner frame, an outer frame, one or more wipers, and apowertrain. The inner frame can provide surfaces for one or moresensors. The outer frame, disposed underneath the inner frame, the outerframe includes a slewing ring. The slewing ring comprises an inner ringto which the domed cover is attached and an outer ring attached to theouter frame. The one or more wipers extends vertically from the outerframe, each wiper having a first end attached to the outer frame and asecond end attached to a support ring, and each wiper making a contactwith the dome cover. The powertrain, disposed within the outer frame,configured to rotate the inner ring and the dome cover attached to theinner ring.

FIG. 1A illustrates an example autonomous vehicle 100, according to anembodiment of the present disclosure. An autonomous vehicle 100generally refers to a category of vehicles that are capable of sensingand driving in an environment by itself. The autonomous vehicle 100 caninclude myriad of sensors (e.g., LiDARs, cameras, radars, etc.) todetect and identify objects in an environment. Such objects may include,but not limited to, pedestrians, road signs, traffic lights, and/orother vehicles, for example. The autonomous vehicle 100 can also includemyriad of actuators to propel the autonomous vehicle 100 navigate aroundthe environment. Such actuators may include, for example, any suitableelectro-mechanical devices or systems to control a throttle response, abraking action, a steering action, etc. In some embodiments, theautonomous vehicle 100 can recognize, interpret, and comprehend roadsigns (e.g., speed limit, school zone, construction zone, etc.) andtraffic lights (e.g., red light, yellow light, green light, flashing redlight, etc.). For example, the autonomous vehicle 100 can adjust vehiclespeed based on speed limit signs posted on roadways. In someembodiments, the autonomous vehicle 100 can determine and adjust a speedat which the autonomous vehicle 100 is traveling in relation to otherobjects in the environment. For example, the autonomous vehicle 100 canmaintain a constant, safe distance from a vehicle ahead (e.g., adaptivecruise control). In this example, the autonomous vehicle 100 maintainsthis safe distance by constantly adjusting its vehicle speed to that ofthe vehicle ahead.

In various embodiments, the autonomous vehicle 100 may navigate throughroads, streets, and/or terrain with limited or no human input. The word“vehicle” or “vehicles” as used in this paper includes vehicles thattravel on ground (e.g., cars, trucks, bus, etc.), but may also includevehicles that travel in air (e.g., drones, airplanes, helicopters,etc.), vehicles that travel on water (e.g., boats, submarines, etc.).Further, “vehicle” or “vehicles” discussed in this paper may or may notaccommodate one or more passengers therein.

In general, the autonomous vehicle 100 can effectuate any control toitself that a human driver can on a conventional vehicle. For example,the autonomous vehicle 100 can accelerate, brake, turn left or right, ordrive in a reverse direction just as a human driver can on aconventional vehicle. The autonomous vehicle 100 can also senseenvironmental conditions, gauge spatial relationships (e.g., distancesbetween objects and itself), detect and analyze road signs just as thehuman driver. Moreover, the autonomous vehicle 100 can perform morecomplex operations, such as parallel parking, parking in a crowdedparking lot, collision avoidance, etc., without any human input.

In various embodiments, the autonomous vehicle 100 may include one ormore sensors. As used herein, the one or more sensors may include laserscanning systems (e.g., LiDARs) 102, radars 104, cameras 106, and/or thelike. The one or more sensors allow the autonomous vehicle 100 to sensean environment around the autonomous vehicle 100. For example, theLiDARs 102 can generate a three dimensional map of the environment. TheLiDARs 102 can also detect objects in the environment. In anotherexample, the radars 104 can determine distances and speeds of objectsaround the autonomous vehicle 100. In another example, the cameras 106can capture and process image data to detect and identify objects, suchas road signs, as well as deciphering content of the objects, such asspeed limit posted on the road signs.

In the example of FIG. 1A, the autonomous vehicle 100 is shown with aLiDAR 102 coupled to a roof or a top of the autonomous vehicle 100. TheLiDAR 102 can be configured to generate three dimensional maps of anenvironment and detect objects in the environment. In the example ofFIG. 1A, the autonomous vehicle 100 is shown with four radars 104. Tworadars are coupled to a front-side and a back-side of the autonomousvehicle 100, and two radars are coupled to a right-side and a left-sideof the autonomous vehicle 100. In some embodiments, the front-side andthe back-side radars can be configured for adaptive cruise controland/or accident avoidance. For example, the front-side radar can be usedby the autonomous vehicle 100 to maintain a safe distance from a vehicleahead of the autonomous vehicle 100. In another example, if the vehicleahead experiences a suddenly reduction in speed, the autonomous vehicle100 can detect this sudden change in motion and adjust its vehicle speedaccordingly. In some embodiments, the right-side and the left-sideradars can be configured for blind-spot detection. In the example ofFIG. 1A, the autonomous vehicle 100 is shown with six cameras 106. Twocameras are coupled to the front-side of the autonomous vehicle 100, twocameras are coupled to the back-side of the autonomous vehicle 100, andtwo cameras are couple to the right-side and the left-side of theautonomous vehicle 100. In some embodiments, the front-side and theback-side cameras can be configured to detect, identify, and decipherobjects, such as cars, pedestrian, road signs, in the front and the backof the autonomous vehicle 100. For example, the front-side cameras canbe utilized by the autonomous vehicle 100 to determine speed limits. Insome embodiments, the right-side and the left-side cameras can beconfigured to detect objects, such as lane markers. For example, sidecameras can be used by the autonomous vehicle 100 to ensure that theautonomous vehicle 100 drives within its lane.

FIG. 1B illustrates an example autonomous vehicle 140, according to anembodiment of the present disclosure. In the example of FIG. 1B, theautonomous vehicle 140 is shown with a sensor enclosure 142 and fourradars 144. The sensor enclosure 142 can include a LiDAR and one or morecamera. As discussed, the sensor enclosure 142 can provide an additionalprotection for the LiDAR and the one or more cameras against variousenvironmental conditions while still allowing wavelengths of lightreceptive to the LiDAR and the one or more cameras to enter. In general,the LiDAR and the one or more cameras of the sensor enclosure 142 andthe four radars work exactly same as the LiDAR, cameras, and radarsdiscussed with respect with FIG. 1A. The sensor enclosure 142 will bediscussed in further detail with references to FIG. 2.

FIG. 2 illustrates an example sensor enclosure 200, according to anembodiment of the present disclosure. In some embodiments, the sensorenclosure 142 of FIG. 1B can be implemented as the sensor enclosure 200.In various embodiments, the sensor enclosure 200 can include a cover 202and a base 204. The cover 202 has a circular dome shape that is disposedabove the base 204. The cover 202 is generally made from transparentmaterials to allow sensors of an autonomous vehicle to operate. The base204 is a circular structure that extends to inside of the cover 202. Thesensors of the autonomous vehicle, such as LiDARs and cameras, can behoused, secured, or mounted to the base 204. In some embodiments, thecover 202 can be operatively coupled to the base 204. For example, thecover 202 is detachable or removable from the base 204 to allow accessto the sensors. In some embodiments, the cover 202 can be rotated abouta vertical axis central to both the cover 202 and the base 204. The base204 can also include one or more wipers 206. The one or more wipers 206are fixed to the base 204 and makes contact to the cover 202. When thecover is rotated, the one or more wipers 206 can remove rainwater, snow,or any other road debris from the cover 202. Details of the rotation andthe one or more wiper 206 will be discussed herein with respect to FIG.3.

The cover 202 defines an outer contour, shape, or silhouette of thesensor enclosure 200. In general, because the sensor enclosure 200 ismounted exteriorly to the autonomous vehicle, it is desirable for thecover 202 to have a shape that has low wind resistance or coefficient ofdrag to minimize negative impacts to fuel economy. For example, a cover202 with an angular or circular shape is more desirable than a square orrectangular shape because the angular or circular shape generally has alower wind resistance than the square or rectangular shape. In FIG. 2,the cover 202 is shown to have a circular dome shape, but generally, thecover 202 can have any shape as required. The cover 202 can have atruncated cone shape, for example. In various embodiments, the cover 202can be made from any suitable material that allows the sensors in thesensor enclosure 200 to operate. Any material used to fabricate thecover 202 must be transparent to wavelengths of light (orelectro-magnetic waves) receptive to the sensors. For example, for aLiDAR to properly operate, the cover 202 must allow laser pulses emittedfrom the LiDAR to pass through the cover 202 to reach a target and thenreflect back through the cover 202 and back to the LiDAR. Similarly, forthe cameras to properly operate, the cover 202 must allow entry ofvisible light. In addition to being transparent to wavelengths of light,any suitable material must also be able to withstand potential impactsfrom roadside debris. In an implementation, the cover 202 can be madefrom acrylic glass (e.g., Cylux, Plexiglas, Acrylite, Lucite, Perspex,etc.). In another implementation, the cover 202 can be made fromstrengthen glass (e.g., Coring® Gorilla® glass). In yet anotherimplementation, the cover 202 can be made from laminated safety glassheld in place by layers of polyvinyl butyral (PVB), ethylene-vinylacetate (EVA), or other similar chemical compounds. Many implementationsare possible and contemplated.

In some embodiments, the cover 202 can be tinted with a thin-film neuralfilter to reduce transmittance to light entering the cover 202. Forexample, in an embodiment, a portion 208 of the cover 202 can beselectively tinted with the thin-film neutral filter to reduce intensityof visible light entering the portion 208. In this example,transmittance of light in other portion of the cover 202 is notaffected. This configuration can be helpful, for example, to altertransmittance of light as seen by the cameras while keepingtransmittance of light seen by the LiDAR same (See FIG. 3 for furtherdetails). In another embodiment, the portion 208 of the cover 202 can betinted with a thin-film graduated neural filter in which transmittanceto visible light varies along an axis. In yet another embodiment, thecover 202 can be completely treated or coated with a reflective coatingsuch that inner of the sensor enclosure 200 is not visible from anoutside vantage point while still being transparent to wavelengths oflight receptive to the LiDAR and the cameras inside of the sensorenclosure 200. Many variations, such as adding a polarization layer oran anti-reflective layer, are possible and contemplated.

The base 204 provides a mechanical framework for the sensor enclosure200. The base 204 can provide surfaces for which the LiDAR and thecameras of the autonomous vehicle can be mounted, anchored, orinstalled. The base 204 can also provide anchoring points for the one ormore wipers 206. Furthermore, the base can house the a powertrainmechanism that can be used to rotate the cover 202. The base 204 will bediscussed in further detail with references to FIG. 3.

FIG. 3 illustrates an example base 300, according to an embodiment ofthe present disclosure. In some embodiments, the base 204 of FIG. 2 canbe implemented as the base 300. As shown in FIG. 3, in variousembodiments, the base 300 provides a mechanical framework for whichvarious electro-mechanical components and sensors, such as a LiDAR 302and cameras 304, can be mounted, anchored, installed, or secured insidea sensor enclosure (e.g., the sensor enclosure 200 of FIG. 2). The base300 comprises an outer frame 306, an inner inner frame 308, and apowertrain 310. The outer frame 306 is a circular pan-like structurethrough which the inner frame 308 and the powertrain 310 are attached ormounted. The pan-like structure of the outer frame 306 creates spacingunderneath the inner structure 308 to house various components,including the powertrain 310. In some embodiments, the outer frame 306can include a slewing ring on an outer edge of the outer frame 306. Theslewing ring comprises two rings: an outer ring 312 and an inner ring314. In various embodiments, the slewing ring can be implemented with aslew bearing. The two rings of the slewing ring can be rotated about oneanother. In the example shown in FIG. 3, the outer ring 312 isrotationally fixed to the outer edge of the outer frame 306 while theinner ring 314 can freely rotate. Furthermore, an inner surface of theinner ring 314 comprises cogs 316 (or gear teeth). The cogs 316 can becoupled to a gear 318 of the powertrain 310 such that when the gear 318rotates, as driven by the powertrain 310, the inner ring 314 rotates asa result. Since a cover of the sensor enclosure (e.g., the cover 202 ofFIG. 2) is coupled or attached to the inner ring 314, as the inner ring314 rotates, the cover rotates as a result. In some embodiments, theouter frame 306 can have one or more mounting points 334 through whichthe sensor enclosure can be secured to an autonomous vehicle. In theexample shown in FIG. 3, the outer frame 306 can also include one ormore wipers 320. The one or more wipers 320 extends vertically out fromthe outer edge of the outer frame 306 and are disposed peripherallyaround the outer frame 306. Each wiper in the one or more wipers 320 hasa first end and a second end. The first end of the wiper is anchored tothe outer edge of the outer frame 306 and the second end of the wiper isanchored to a support ring 322. Each wiper in the one or more wipers 320comprises a leaf spring 324 and a wiper blade 326 connected to a middleof the leaf spring 324. The leaf spring 324, which is anchored to theouter frame 306 and the support ring 322, provides compressive force topush the wiper blade 326 against the cover (or conforms to a contour ofthe cover) and make contact with the cover of the sensor enclosure. Thiscompressive force provides necessary friction to the wiper blade 326such that when the cover is rotated, the wiper blade 326, through thecontact, can remove rainwater, snow, or any other debris from the cover.In the example of FIG. 3, the outer frame 306 is shown to have threewipers offset to 120 degrees to each other.

In general, the outer frame 306 can be made from any suitable materialsthat can withstand extreme temperature swings and weather variousenvironmental conditions (e.g., rain, snow, corrosion, oxidation, etc.).The outer frame 306 can be fabricated using various metal alloys (e.g.,aluminum alloys, steel alloys, etc.) or carbon graphite. The outer frame306 can also be fabricated using three dimensional printers withthermoplastics (e.g., polylactic acid, acrylonitrile butadiene styrene,polyamide, high impact polystyrene, thermoplastic elastomer, etc.). Manyvariations are possible.

In the example of FIG. 3, the inner frame 308 is shown to include acircular platform 328 with four support anchors 330 disposed underneaththe circular platform 328 and a center block 332 disposed above thecircular platform 328. The LiDAR 302 can be mounted on top of the centerblock 332. The cameras 304 can be mounted on the circular platform 328.In FIG. 3, two cameras are shown to be pointed in a forward directionand two cameras are pointed at a +/−45 degrees offset from the forwarddirection. In general, any number of cameras can be mounted to the innerframe 308. The inner frame 308 is not limited to having four cameras asdepicted in FIG. 3. For example, in some embodiments, the circularplatform 328 can have two cameras pointed in the forward direction ofthe autonomous vehicle, two cameras pointed to in a right and a leftdirection of the autonomous vehicle, and two cameras pointed in abackward direction of the autonomous vehicle. Many variations arepossible. The support anchors 330 anchor the circular platform 328 tothe outer frame 306. In some embodiments, each support anchor 330 caninclude a leveling mechanism. The leveling mechanism can adjust a heightof each support anchor 330. In some cases, the leveling mechanism canadjust height automatically. For example, an autonomous vehicle, whiledriving through potholes or damaged roads, may experience variousvibrations. The vibrations experienced by the autonomous vehicle cantranslate to images captured by the cameras. In such cases, the levelingmechanism in each support anchor 330 can adjusts the height of eachsupport anchor 330 to counter-act the vibrations so that the vibrationsintroduced to the images are minimized. In some cases, the levelingmechanism in each support anchor 330 may preemptively adjust a height ofthe circular platform 328 in anticipation of an inclination ordeclination. For example, as the autonomous vehicle approaches anincline, the cameras 304 might not capture images of road conditionsbeyond the autonomous vehicle's current trajectory. Under such ascenario, the leveling mechanism in each support anchor 330 can adjustto tilt the circular platform 328 to elevate field of view of the camera304. In this example, the two front support anchors are raised while thetwo back support anchors are lowered. Similarly, if the autonomousvehicle is approaching a decline, the leveling mechanism in each supportanchor 330 may proactively tile the circular platform 328 to lower thefield of view of the cameras 304. In this example, the front two supportanchors are lowered while the back two support anchors 330 are raised.Many variations are possible.

Similar to the outer frame 306, the inner frame 308 can be made from anysuitable materials that can withstand extreme temperature swings andweather various environmental conditions (e.g., rain, snow, corrosion,oxidation, etc.). The inner frame 308 can be fabricated using variousmetal alloys (e.g., aluminum alloys, steel alloys, etc.) or carbongraphite. The inner frame 308 can also be fabricated using threedimensional printers with thermoplastics (e.g., polylactic acid,acrylonitrile butadiene styrene, polyamide, high impact polystyrene,thermoplastic elastomer, etc.). Many variations are possible.

As shown in the example of FIG. 3, the powertrain 310 can be disposedbetween the inner frame 308 and the outer frame 306. In variousembodiments, the powertrain 310 can be implemented with an electricmotor. For example, the powertrain 310 can be implemented with a directcurrent brush or brushless motor, or an alternate current synchronous orasynchronous motor. The powertrain 310 can be connected to a gear 318.The powertrain 310 can rotate the inner ring 314 of the slewing ring andthe cover attached to the inner ring 314 clockwise or counter-clockwisethrough the gear 318 coupled to the cogs 316 of the inner ring 314. Insome embodiments, the base 300 can include a moisture sensor (not shownin FIG. 3). The moisture sensor can be configured to detect rainwateraccumulated on the cover of the sensor enclosure. Depending on theamount of moisture or rainwater detected, the powertrain 310 can varyits rotational speed. For example, for a slight rain, the powertrain 310rotates the cover at lower speeds. However, if rain intensity increases,the powertrain 310 correspondingly rotates the cover at a faster speed.

FIG. 4 illustrates an example control diagram 400, according to anembodiment of the present disclosure. In some embodiments, the controldiagram 400 can include a control engine 402, a moisture sensor 404, anda cover actuator 406. The control engine 402 can be configured tocontrol speed at which a cover (e.g., the cover 202 of FIG. 2) of asensor enclosure (e.g., the sensor enclosure 200 of FIG. 2) rotatesthrough the cover actuator 408 (e.g., the powertrain 310 FIG. 3). Invarious embodiments, the control engine 402 can detect a presence ofrainwater on the cover at a predetermined timeframe or at a certainsampling rate. For example, the control engine 402 can receive readingsfrom the moisture sensor 404 every second, every thirty seconds, everyminute, every five minutes, etc. Once rainwater is detected, the controlengine 402 may decide to rotate the cover through the cover actuator406. The rainwater can be removed from the cover when the cover rotatesthrough one or more wipers affixed to the sensor enclosure. In somecases, if more rainwater is detected, the control engine 402 may speedup the rotation of the cover. In general, the control engine 402 can beimplemented with any suitable control algorithms or controllers. Forexample, in an embodiment, the control engine 402 can be implemented asa feed-back control. In some embodiments, the control engine 402 can beimplemented as a feed-back control with a feed-forward loop. Manyvariations are possible.

FIG. 5 illustrates an example method 500, according to an embodiment ofthe present disclosure. It should be appreciated that there can beadditional, fewer, or alternative steps performed in similar oralternative orders, or in parallel, within the scope of the variousembodiments unless otherwise stated.

At block 502, the example method 500 can detect a presence of rainwateron a cover of a sensor enclosure. At block 504, the example method 500can rotate the cover to a portion of rainwater accumulated on the coverthrough one or more wipers affixed to the sensor enclosure. At block506, the example method 500 can adjust speed of the rotation based onamount of rainwater detected.

Hardware Implementation

The techniques described herein are implemented by one or morespecial-purpose computing devices. The special-purpose computing devicesmay be hard-wired to perform the techniques, or may include circuitry ordigital electronic devices such as one or more application-specificintegrated circuits (ASICs) or field programmable gate arrays (FPGAs)that are persistently programmed to perform the techniques, or mayinclude one or more hardware processors programmed to perform thetechniques pursuant to program instructions in firmware, memory, otherstorage, or a combination. Such special-purpose computing devices mayalso combine custom hard-wired logic, ASICs, or FPGAs with customprogramming to accomplish the techniques. The special-purpose computingdevices may be desktop computer systems, server computer systems,portable computer systems, handheld devices, networking devices or anyother device or combination of devices that incorporate hard-wiredand/or program logic to implement the techniques.

Computing device(s) are generally controlled and coordinated byoperating system software, such as iOS, Android, Chrome OS, Windows XP,Windows Vista, Windows 7, Windows 8, Windows Server, Windows CE, Unix,Linux, SunOS, Solaris, iOS, Blackberry OS, VxWorks, or other compatibleoperating systems. In other embodiments, the computing device may becontrolled by a proprietary operating system. Conventional operatingsystems control and schedule computer processes for execution, performmemory management, provide file system, networking, I/O services, andprovide a user interface functionality, such as a graphical userinterface (“GUI”), among other things.

FIG. 6 is a block diagram that illustrates a computer system 600 uponwhich any of the embodiments described herein may be implemented. Thecomputer system 600 includes a bus 602 or other communication mechanismfor communicating information, one or more hardware processors 604coupled with bus 602 for processing information. Hardware processor(s)604 may be, for example, one or more general purpose microprocessors.

The computer system 600 also includes a main memory 606, such as arandom access memory (RAM), cache and/or other dynamic storage devices,coupled to bus 602 for storing information and instructions to beexecuted by processor 604. Main memory 606 also may be used for storingtemporary variables or other intermediate information during executionof instructions to be executed by processor 604. Such instructions, whenstored in storage media accessible to processor 604, render computersystem 600 into a special-purpose machine that is customized to performthe operations specified in the instructions.

The computer system 600 further includes a read only memory (ROM) 608 orother static storage device coupled to bus 602 for storing staticinformation and instructions for processor 604. A storage device 610,such as a magnetic disk, optical disk, or USB thumb drive (Flash drive),etc., is provided and coupled to bus 602 for storing information andinstructions.

The computer system 600 may be coupled via bus 602 to a display 612,such as a cathode ray tube (CRT) or LCD display (or touch screen), fordisplaying information to a computer user. An input device 614,including alphanumeric and other keys, is coupled to bus 602 forcommunicating information and command selections to processor 604.Another type of user input device is cursor control 616, such as amouse, a trackball, or cursor direction keys for communicating directioninformation and command selections to processor 604 and for controllingcursor movement on display 612. This input device typically has twodegrees of freedom in two axes, a first axis (e.g., x) and a second axis(e.g., y), that allows the device to specify positions in a plane. Insome embodiments, the same direction information and command selectionsas cursor control may be implemented via receiving touches on a touchscreen without a cursor.

The computing system 600 may include a user interface module toimplement a GUI that may be stored in a mass storage device asexecutable software codes that are executed by the computing device(s).This and other modules may include, by way of example, components, suchas software components, object-oriented software components, classcomponents and task components, processes, functions, attributes,procedures, subroutines, segments of program code, drivers, firmware,microcode, circuitry, data, databases, data structures, tables, arrays,and variables.

In general, the word “module,” as used herein, refers to logic embodiedin hardware or firmware, or to a collection of software instructions,possibly having entry and exit points, written in a programminglanguage, such as, for example, Java, C or C++. A software module may becompiled and linked into an executable program, installed in a dynamiclink library, or may be written in an interpreted programming languagesuch as, for example, BASIC, Perl, or Python. It will be appreciatedthat software modules may be callable from other modules or fromthemselves, and/or may be invoked in response to detected events orinterrupts. Software modules configured for execution on computingdevices may be provided on a computer readable medium, such as a compactdisc, digital video disc, flash drive, magnetic disc, or any othertangible medium, or as a digital download (and may be originally storedin a compressed or installable format that requires installation,decompression or decryption prior to execution). Such software code maybe stored, partially or fully, on a memory device of the executingcomputing device, for execution by the computing device. Softwareinstructions may be embedded in firmware, such as an EPROM. It will befurther appreciated that hardware modules may be comprised of connectedlogic units, such as gates and flip-flops, and/or may be comprised ofprogrammable units, such as programmable gate arrays or processors. Themodules or computing device functionality described herein arepreferably implemented as software modules, but may be represented inhardware or firmware. Generally, the modules described herein refer tological modules that may be combined with other modules or divided intosub-modules despite their physical organization or storage.

The computer system 600 may implement the techniques described hereinusing customized hard-wired logic, one or more ASICs or FPGAs, firmwareand/or program logic which in combination with the computer systemcauses or programs computer system 600 to be a special-purpose machine.According to one embodiment, the techniques herein are performed bycomputer system 600 in response to processor(s) 604 executing one ormore sequences of one or more instructions contained in main memory 606.Such instructions may be read into main memory 606 from another storagemedium, such as storage device 610. Execution of the sequences ofinstructions contained in main memory 606 causes processor(s) 604 toperform the process steps described herein. In alternative embodiments,hard-wired circuitry may be used in place of or in combination withsoftware instructions.

The term “non-transitory media,” and similar terms, as used hereinrefers to any media that store data and/or instructions that cause amachine to operate in a specific fashion. Such non-transitory media maycomprise non-volatile media and/or volatile media. Non-volatile mediaincludes, for example, optical or magnetic disks, such as storage device610. Volatile media includes dynamic memory, such as main memory 606.Common forms of non-transitory media include, for example, a floppydisk, a flexible disk, hard disk, solid state drive, magnetic tape, orany other magnetic data storage medium, a CD-ROM, any other optical datastorage medium, any physical medium with patterns of holes, a RAM, aPROM, and EPROM, a FLASH-EPROM, NVRAM, any other memory chip orcartridge, and networked versions of the same.

Non-transitory media is distinct from but may be used in conjunctionwith transmission media. Transmission media participates in transferringinformation between non-transitory media. For example, transmissionmedia includes coaxial cables, copper wire and fiber optics, includingthe wires that comprise bus 602. Transmission media can also take theform of acoustic or light waves, such as those generated duringradio-wave and infra-red data communications.

Various forms of media may be involved in carrying one or more sequencesof one or more instructions to processor 604 for execution. For example,the instructions may initially be carried on a magnetic disk or solidstate drive of a remote computer. The remote computer can load theinstructions into its dynamic memory and send the instructions over atelephone line using a modem. A modem local to computer system 600 canreceive the data on the telephone line and use an infra-red transmitterto convert the data to an infra-red signal. An infra-red detector canreceive the data carried in the infra-red signal and appropriatecircuitry can place the data on bus 602. Bus 602 carries the data tomain memory 606, from which processor 604 retrieves and executes theinstructions. The instructions received by main memory 606 may retrievesand executes the instructions. The instructions received by main memory606 may optionally be stored on storage device 610 either before orafter execution by processor 604.

The computer system 600 also includes a communication interface 618coupled to bus 602. Communication interface 618 provides a two-way datacommunication coupling to one or more network links that are connectedto one or more local networks. For example, communication interface 618may be an integrated services digital network (ISDN) card, cable modem,satellite modem, or a modem to provide a data communication connectionto a corresponding type of telephone line. As another example,communication interface 618 may be a local area network (LAN) card toprovide a data communication connection to a compatible LAN (or WANcomponent to communicated with a WAN). Wireless links may also beimplemented. In any such implementation, communication interface 618sends and receives electrical, electromagnetic or optical signals thatcarry digital data streams representing various types of information.

A network link typically provides data communication through one or morenetworks to other data devices. For example, a network link may providea connection through local network to a host computer or to dataequipment operated by an Internet Service Provider (ISP). The ISP inturn provides data communication services through the world wide packetdata communication network now commonly referred to as the “Internet”.Local network and Internet both use electrical, electromagnetic oroptical signals that carry digital data streams. The signals through thevarious networks and the signals on network link and throughcommunication interface 618, which carry the digital data to and fromcomputer system 600, are example forms of transmission media.

The computer system 600 can send messages and receive data, includingprogram code, through the network(s), network link and communicationinterface 618. In the Internet example, a server might transmit arequested code for an application program through the Internet, the ISP,the local network and the communication interface 618.

The received code may be executed by processor 604 as it is received,and/or stored in storage device 610, or other non-volatile storage forlater execution.

Each of the processes, methods, and algorithms described in thepreceding sections may be embodied in, and fully or partially automatedby, code modules executed by one or more computer systems or computerprocessors comprising computer hardware. The processes and algorithmsmay be implemented partially or wholly in application-specificcircuitry.

The various features and processes described above may be usedindependently of one another, or may be combined in various ways. Allpossible combinations and sub-combinations are intended to fall withinthe scope of this disclosure. In addition, certain method or processblocks may be omitted in some implementations. The methods and processesdescribed herein are also not limited to any particular sequence, andthe blocks or states relating thereto can be performed in othersequences that are appropriate. For example, described blocks or statesmay be performed in an order other than that specifically disclosed, ormultiple blocks or states may be combined in a single block or state.The example blocks or states may be performed in serial, in parallel, orin some other manner. Blocks or states may be added to or removed fromthe disclosed example embodiments. The example systems and componentsdescribed herein may be configured differently than described. Forexample, elements may be added to, removed from, or rearranged comparedto the disclosed example embodiments.

Conditional language, such as, among others, “can,” “could,” “might,” or“may,” unless specifically stated otherwise, or otherwise understoodwithin the context as used, is generally intended to convey that certainembodiments include, while other embodiments do not include, certainfeatures, elements and/or steps. Thus, such conditional language is notgenerally intended to imply that features, elements and/or steps are inany way required for one or more embodiments or that one or moreembodiments necessarily include logic for deciding, with or without userinput or prompting, whether these features, elements and/or steps areincluded or are to be performed in any particular embodiment.

Any process descriptions, elements, or blocks in the flow diagramsdescribed herein and/or depicted in the attached figures should beunderstood as potentially representing modules, segments, or portions ofcode which include one or more executable instructions for implementingspecific logical functions or steps in the process. Alternateimplementations are included within the scope of the embodimentsdescribed herein in which elements or functions may be deleted, executedout of order from that shown or discussed, including substantiallyconcurrently or in reverse order, depending on the functionalityinvolved, as would be understood by those skilled in the art.

It should be emphasized that many variations and modifications may bemade to the above-described embodiments, the elements of which are to beunderstood as being among other acceptable examples. All suchmodifications and variations are intended to be included herein withinthe scope of this disclosure. The foregoing description details certainembodiments of the invention. It will be appreciated, however, that nomatter how detailed the foregoing appears in text, the invention can bepracticed in many ways. As is also stated above, it should be noted thatthe use of particular terminology when describing certain features oraspects of the invention should not be taken to imply that theterminology is being re-defined herein to be restricted to including anyspecific characteristics of the features or aspects of the inventionwith which that terminology is associated. The scope of the inventionshould therefore be construed in accordance with the appended claims andany equivalents thereof.

Engines, Components, and Logic

Certain embodiments are described herein as including logic or a numberof components, engines, or mechanisms. Engines may constitute eithersoftware engines (e.g., code embodied on a machine-readable medium) orhardware engines. A “hardware engine” is a tangible unit capable ofperforming certain operations and may be configured or arranged in acertain physical manner. In various example embodiments, one or morecomputer systems (e.g., a standalone computer system, a client computersystem, or a server computer system) or one or more hardware engines ofa computer system (e.g., a processor or a group of processors) may beconfigured by software (e.g., an application or application portion) asa hardware engine that operates to perform certain operations asdescribed herein.

In some embodiments, a hardware engine may be implemented mechanically,electronically, or any suitable combination thereof. For example, ahardware engine may include dedicated circuitry or logic that ispermanently configured to perform certain operations. For example, ahardware engine may be a special-purpose processor, such as aField-Programmable Gate Array (FPGA) or an Application SpecificIntegrated Circuit (ASIC). A hardware engine may also includeprogrammable logic or circuitry that is temporarily configured bysoftware to perform certain operations. For example, a hardware enginemay include software executed by a general-purpose processor or otherprogrammable processor. Once configured by such software, hardwareengines become specific machines (or specific components of a machine)uniquely tailored to perform the configured functions and are no longergeneral-purpose processors. It will be appreciated that the decision toimplement a hardware engine mechanically, in dedicated and permanentlyconfigured circuitry, or in temporarily configured circuitry (e.g.,configured by software) may be driven by cost and time considerations.

Accordingly, the phrase “hardware engine” should be understood toencompass a tangible entity, be that an entity that is physicallyconstructed, permanently configured (e.g., hardwired), or temporarilyconfigured (e.g., programmed) to operate in a certain manner or toperform certain operations described herein. As used herein,“hardware-implemented engine” refers to a hardware engine. Consideringembodiments in which hardware engines are temporarily configured (e.g.,programmed), each of the hardware engines need not be configured orinstantiated at any one instance in time. For example, where a hardwareengine comprises a general-purpose processor configured by software tobecome a special-purpose processor, the general-purpose processor may beconfigured as respectively different special-purpose processors (e.g.,comprising different hardware engines) at different times. Softwareaccordingly configures a particular processor or processors, forexample, to constitute a particular hardware engine at one instance oftime and to constitute a different hardware engine at a differentinstance of time.

Hardware engines can provide information to, and receive informationfrom, other hardware engines. Accordingly, the described hardwareengines may be regarded as being communicatively coupled. Where multiplehardware engines exist contemporaneously, communications may be achievedthrough signal transmission (e.g., over appropriate circuits and buses)between or among two or more of the hardware engines. In embodiments inwhich multiple hardware engines are configured or instantiated atdifferent times, communications between such hardware engines may beachieved, for example, through the storage and retrieval of informationin memory structures to which the multiple hardware engines have access.For example, one hardware engine may perform an operation and store theoutput of that operation in a memory device to which it iscommunicatively coupled. A further hardware engine may then, at a latertime, access the memory device to retrieve and process the storedoutput. Hardware engines may also initiate communications with input oroutput devices, and can operate on a resource (e.g., a collection ofinformation).

The various operations of example methods described herein may beperformed, at least partially, by one or more processors that aretemporarily configured (e.g., by software) or permanently configured toperform the relevant operations. Whether temporarily or permanentlyconfigured, such processors may constitute processor-implemented enginesthat operate to perform one or more operations or functions describedherein. As used herein, “processor-implemented engine” refers to ahardware engine implemented using one or more processors.

Similarly, the methods described herein may be at least partiallyprocessor-implemented, with a particular processor or processors beingan example of hardware. For example, at least some of the operations ofa method may be performed by one or more processors orprocessor-implemented engines. Moreover, the one or more processors mayalso operate to support performance of the relevant operations in a“cloud computing” environment or as a “software as a service” (SaaS).For example, at least some of the operations may be performed by a groupof computers (as examples of machines including processors), with theseoperations being accessible via a network (e.g., the Internet) and viaone or more appropriate interfaces (e.g., an Application ProgramInterface (API)).

The performance of certain of the operations may be distributed amongthe processors, not only residing within a single machine, but deployedacross a number of machines. In some example embodiments, the processorsor processor-implemented engines may be located in a single geographiclocation (e.g., within a home environment, an office environment, or aserver farm). In other example embodiments, the processors orprocessor-implemented engines may be distributed across a number ofgeographic locations.

Language

Throughout this specification, plural instances may implementcomponents, operations, or structures described as a single instance.Although individual operations of one or more methods are illustratedand described as separate operations, one or more of the individualoperations may be performed concurrently, and nothing requires that theoperations be performed in the order illustrated. Structures andfunctionality presented as separate components in example configurationsmay be implemented as a combined structure or component. Similarly,structures and functionality presented as a single component may beimplemented as separate components. These and other variations,modifications, additions, and improvements fall within the scope of thesubject matter herein.

Although an overview of the subject matter has been described withreference to specific example embodiments, various modifications andchanges may be made to these embodiments without departing from thebroader scope of embodiments of the present disclosure. Such embodimentsof the subject matter may be referred to herein, individually orcollectively, by the term “invention” merely for convenience and withoutintending to voluntarily limit the scope of this application to anysingle disclosure or concept if more than one is, in fact, disclosed.

The embodiments illustrated herein are described in sufficient detail toenable those skilled in the art to practice the teachings disclosed.Other embodiments may be used and derived therefrom, such thatstructural and logical substitutions and changes may be made withoutdeparting from the scope of this disclosure. The Detailed Description,therefore, is not to be taken in a limiting sense, and the scope ofvarious embodiments is defined only by the appended claims, along withthe full range of equivalents to which such claims are entitled.

It will be appreciated that an “engine,” “system,” “data store,” and/or“database” may comprise software, hardware, firmware, and/or circuitry.In one example, one or more software programs comprising instructionscapable of being executable by a processor may perform one or more ofthe functions of the engines, data stores, databases, or systemsdescribed herein. In another example, circuitry may perform the same orsimilar functions. Alternative embodiments may comprise more, less, orfunctionally equivalent engines, systems, data stores, or databases, andstill be within the scope of present embodiments. For example, thefunctionality of the various systems, engines, data stores, and/ordatabases may be combined or divided differently.

“Open source” software is defined herein to be source code that allowsdistribution as source code as well as compiled form, with awell-publicized and indexed means of obtaining the source, optionallywith a license that allows modifications and derived works.

The data stores described herein may be any suitable structure (e.g., anactive database, a relational database, a self-referential database, atable, a matrix, an array, a flat file, a documented-oriented storagesystem, a non-relational No-SQL system, and the like), and may becloud-based or otherwise.

As used herein, the term “or” may be construed in either an inclusive orexclusive sense. Moreover, plural instances may be provided forresources, operations, or structures described herein as a singleinstance. Additionally, boundaries between various resources,operations, engines, and data stores are somewhat arbitrary, andparticular operations are illustrated in a context of specificillustrative configurations. Other allocations of functionality areenvisioned and may fall within a scope of various embodiments of thepresent disclosure. In general, structures and functionality presentedas separate resources in the example configurations may be implementedas a combined structure or resource. Similarly, structures andfunctionality presented as a single resource may be implemented asseparate resources. These and other variations, modifications,additions, and improvements fall within a scope of embodiments of thepresent disclosure as represented by the appended claims. Thespecification and drawings are, accordingly, to be regarded in anillustrative rather than a restrictive sense.

Conditional language, such as, among others, “can,” “could,” “might,” or“may,” unless specifically stated otherwise, or otherwise understoodwithin the context as used, is generally intended to convey that certainembodiments include, while other embodiments do not include, certainfeatures, elements and/or steps. Thus, such conditional language is notgenerally intended to imply that features, elements and/or steps are inany way required for one or more embodiments or that one or moreembodiments necessarily include logic for deciding, with or without userinput or prompting, whether these features, elements and/or steps areincluded or are to be performed in any particular embodiment.

Although the invention has been described in detail for the purpose ofillustration based on what is currently considered to be the mostpractical and preferred implementations, it is to be understood thatsuch detail is solely for that purpose and that the invention is notlimited to the disclosed implementations, but, on the contrary, isintended to cover modifications and equivalent arrangements that arewithin the spirit and scope of the appended claims. For example, it isto be understood that the present invention contemplates that, to theextent possible, one or more features of any embodiment can be combinedwith one or more features of any other embodiment.

1. A sensor enclosure encasing sensors, the sensor enclosure comprising:a cover; and a base encased by the cover, the base comprising: an innerframe comprising: a circular platform; a center block, disposed abovethe circular platform; and one or more support anchors disposedunderneath the circular platform; an outer frame disposed underneath theinner frame and attached to the inner frame via the one or more supportanchors, the outer frame including a slewing ring; one or more wipersextending vertically from the outer frame; and a powertrain disposedwithin the outer frame and comprising a gear coupled to the slewingring.
 2. The sensor enclosure of claim 1, wherein the slewing ringcomprises an inner ring; and the inner ring comprises cogs and the cogsare coupled to the gear.
 3. The sensor enclosure of claim 1, wherein thepowertrain adjusts a rotational speed based on an amount of moisturedetected on the cover.
 4. The sensor enclosure of claim 3, wherein thebase further comprises a moisture sensor that detects an amount ofmoisture on the cover; and the powertrain adjusts a rotational speedbased on the amount of moisture detected by the moisture sensor.
 5. Thesensor enclosure of claim 1, wherein one or more cameras are mountedatop the circular platform in a radial arrangement.
 6. The sensorenclosure of claim 1, wherein a LiDAR sensor is mounted atop the centerblock.
 7. The sensor enclosure of claim 1, wherein each of the one ormore wipers comprises a first end anchored to an outer edge of the outerframe and a second end anchored to a support ring.
 8. The sensorenclosure of claim 1, further comprising the support ring, wherein thesupport ring is disposed above the center block without contacting thecenter block.
 9. The sensor enclosure of claim 8, wherein the supportring has a larger circumference compared to that of the inner frame. 10.The sensor enclosure of claim 7, wherein each of the one or more wiperscomprises: a leaf spring anchored to the outer frame and to the supportring; and a wiper blade connected to the leaf spring, wherein the leafspring compresses the wiper blade against the cover.
 11. The sensorenclosure of claim 1, wherein the cover comprises a domed cover.
 12. Thesensor enclosure of claim 1, wherein the cover comprises a truncatedcone.
 13. The sensor enclosure of claim 1, wherein a portion of thecover below a top section of the cover comprises a graduated neuralfilter to reduce an intensity of light received by cameras whilemaintaining transmittance of light received by a LiDAR sensor.
 14. Thesensor enclosure of claim 1, wherein the slewing ring comprises an outerring and an inner ring; and the gear is coupled to the inner ring. 15.The sensor enclosure of claim 1, wherein the outer frame comprisesmounting points to be secured to a vehicle.
 16. The sensor enclosure ofclaim 1, wherein the wipers are disposed peripherally around the outerframe.
 17. The sensor enclosure of claim 1, wherein the support anchorsare adjustable in height based on a level of vibration.
 18. The sensorenclosure of claim 1, wherein the support anchors are adjustable inheight based on an anticipated inclination or declination.
 19. Thesensor enclosure of claim 1, wherein the powertrain is disposed to anexterior of the inner frame.
 20. The sensor enclosure of claim 1,wherein the slewing ring comprises a rotating inner ring that isactuated by the powertrain and a stationary outer ring.